Abstract: A transportation system includes map information storage means configured to store map information including travel road additional information about travel roads of an autonomous traveling transporter for transporting a load and inclination of the travel roads, collected information acquisition means configured to acquire collected information collected through autonomous traveling of the transporter on the travel roads, map information update means configured to update the travel road additional information of the map information corresponding to the travel roads autonomously traveled by the transporter based on the collected information, and a travel plan unit configured to identify a travel plan of the transporter autonomously traveling to transport the load, based on the map information including the travel road additional information and travel tolerance PB indicating tolerance of the load with respect to traveling.

Abstract: A steering control device for a vehicle has a steering assistance means (7) which performs steering assistance processing for driving an actuator (6) so that a vehicle (1) travels along a lane recognized by a lane recognition means (5) from an image acquired by an image acquisition means (4); a side displacement amount calculation means (8) which calculates a displacement amount in the lane width direction between the position of the vehicle (1) and the center of the recognized lane; a complexity calculation means (10) which calculates the complexity of the acquired image; and a steering assistance inhibition means (11) which inhibits, according to the displacement amount in the lane width direction calculated based on the lane recognized from the acquired image at a given time point and the complexity of the acquired image, steering assistance processing based on the lane by the steering assistance means (7).

Abstract: A vehicle includes: an image acquisition means (4) which acquires a road image via an imaging means (3); an edge extraction means (5) which extracts edge points from the acquired image; a line search means (6) which searches the extracted edge points for line components; an evaluation value calculation means (7) which calculates an evaluation value indicating the degree that each line component approximates a linear lane mark on the road for the line components searched for; a lane mark candidate selection means (8) which selects line components each having an evaluation value greater than a predetermined threshold value as candidates for a line component corresponding to the lane mark from the line components searched for; and a lane mark detection means (9) which detects the lane mark by determining the line component corresponding to the lane mark from the selected candidates for the line component.

Abstract: A system or the like capable of detecting lane marks more accurately by preventing false lane marks from being erroneously detected as true lane marks. A vehicle-use image processing system (100) allows a “road surface cluster” to be extracted from the “histogram” of luminance of each pixel in a “reference area” in a road surface image. Among “primary lane mark candidates,” those that overlap the “reference area” are detected as “secondary lane mark candidates.” Among the “secondary lane mark candidates,” those that have “luminance parameter” values falling within the luminance range of the “road surface cluster” are not detected as true lane marks. Thereby, lane marks are prevented from being erroneously detected (erroneous detection). This allows only lane marks to be detected more accurately.

Abstract: A steering control device for a vehicle has a steering assistance means (7) which performs steering assistance processing for driving an actuator (6) so that a vehicle (1) travels along a lane recognized by a lane recognition means (5) from an image acquired by an image acquisition means (4); a side displacement amount calculation means (8) which calculates a displacement amount in the lane width direction between the position of the vehicle (1) and the center of the recognized lane; a complexity calculation means (10) which calculates the complexity of the acquired image; and a steering assistance inhibition means (11) which inhibits, according to the displacement amount in the lane width direction calculated based on the lane recognized from the acquired image at a given time point and the complexity of the acquired image, steering assistance processing based on the lane by the steering assistance means (7).

Abstract: A vehicle includes: an image acquisition means (4) which acquires a road image via an imaging means (3); an edge extraction means (5) which extracts edge points from the acquired image; a line search means (6) which searches the extracted edge points for line components; an evaluation value calculation means (7) which calculates an evaluation value indicating the degree that each line component approximates a linear lane mark on the road for the line components searched for; a lane mark candidate selection means (8) which selects line components each having an evaluation value greater than a predetermined threshold value as candidates for a line component corresponding to the lane mark from the line components searched for; and a lane mark detection means (9) which detects the lane mark by determining the line component corresponding to the lane mark from the selected candidates for the line component.

Abstract: Roadside three-dimensional objects arranged along the road at irregular intervals are used to accurately estimate a shape of the road. A three-dimensional object extractor extracts a three-dimensional object existing in an image captured by an image pickup device. A feature point extractor extracts a feature point from the three-dimensional object and a feature point corrector corrects a displacement of the feature point according to a detected running state of the vehicle. A residual image generator generates a residual image of the feature point whose displacement is corrected and the running state of the subject vehicle. A vanishing point calculator calculates a vanishing point and a road shape estimator estimates a road shape based on a straight line closest to both right and left sides of the subject vehicle from the straight lines passing through the vanishing point.

Abstract: A system or the like capable of detecting lane marks more accurately by preventing false lane marks from being erroneously detected as true lane marks. A vehicle-use image processing system (100) allows a “road surface cluster” to be extracted from the “histogram” of luminance of each pixel in a “reference area” in a road surface image. Among “primary lane mark candidates,” those that overlap the “reference area” are detected as “secondary lane mark candidates.” Among the “secondary lane mark candidates,” those that have “luminance parameter” values falling within the luminance range of the “road surface cluster” are not detected as true lane marks. Thereby, lane marks are prevented from being erroneously detected (erroneous detection). This allows only lane marks to be detected more accurately.

Abstract: A traffic lane marking line recognition system for vehicle including a traffic lane marking line recognizing device configured to recognize at least a traffic lane marking line in broken (e.g., white) line on a road surface in a camera photographed image, and an image compositing device which composites images photographed at different time points to elongate the traffic lane marking line in the photographed image, wherein the images are composited in a processing stage in such a manner that no change will be imparted to at least a shape of the traffic lane marking line in the photographed image in a traffic lane marking line recognition processing, specifically in a processing stage prior to edge detection. With this, a distant traffic lane marking line is prevented from being chipped away when compositing the photographed images, thereby enabling accurate and unerring recognition of the traffic lane marking line.

Abstract: In the traffic lane marking line recognition system for vehicle having an image compositing device for compositing images photographed at different time points by a camera to elongate a traffic lane marking line in the photographed image, a fore-aft direction angle of the vehicle relative to the traffic lane marking line and a distance of the vehicle from the line in each of the images to be composited are detected to determine deviations of the angles and distances between the images; and the images are composited after having been corrected such that the angles and distances of the vehicle relative to the line are equal to each other based on the determined deviations of the angles and distances. With this, the traffic lane marking lines are elongated in appearance in the composited image due to the correction, thereby enabling accurate and unerring recognition of the traffic lane marking line.

Abstract: In the traffic lane marking line recognition system for vehicle having an image compositing device for compositing images photographed at different time points by a camera to elongate a traffic lane marking line in the photographed image, a fore-aft direction angle of the vehicle relative to the traffic lane marking line and a distance of the vehicle from the line in each of the images to be composited are detected to determine deviations of the angles and distances between the images; and the images are composited after having been corrected such that the angles and distances of the vehicle relative to the line are equal to each other based on the determined deviations of the angles and distances. With this, the traffic lane marking lines are elongated in appearance in the composited image due to the correction, thereby enabling accurate and unerring recognition of the traffic lane marking line.

Abstract: A traffic lane marking line recognition system for vehicle including a traffic lane marking line recognizing device configured to recognize at least a traffic lane marking line in broken (e.g., white) line on a road surface in a camera photographed image, and an image compositing device which composites images photographed at different time points to elongate the traffic lane marking line in the photographed image, wherein the images are composited in a processing stage in such a manner that no change will be imparted to at least a shape of the traffic lane marking line in the photographed image in a traffic lane marking line recognition processing, specifically in a processing stage prior to edge detection. With this, a distant traffic lane marking line is prevented from being chipped away when compositing the photographed images, thereby enabling accurate and unerring recognition of the traffic lane marking line.

Abstract: A lane boundary recognition system for a self-navigating vehicle which enables the vehicle to self-navigate on an expressway or other such roadway having lane boundaries while simultaneously identifying and discriminating the continuity of the lane boundaries. Vehicle position to the lane boundaries are determined at times T0 and T1. A vehicle locus occurred in a period between the times is estimated and the position at the time T0 is corrected. A difference between said corrected position and said position at the time T1 is calculated and is adding to lane boundary numbers and by comparing them with each other, it is determining if the lane boundaries recognized at the times T0 and T1 are continuous. If determined to be continuous, the same number is assigned and is stored in a common memory.